EtherCAT® Configuration and Diagnosis Tool Technical Presentation

EtherCAT System Architecture EtherCAT Slave Information (ESI) Files RAS Client (TCP) TCP/IP EtherCAT Network Information (ENI) File Online Functions EtherCAT Application RAS Server (TCP) Real-Time Kernel/OS

Create or modify a configuration Offline (in the office) Operating Modes Offline Configuration: (In the Office) Online Configuration: Slaves connected to Engineering System Remote Configuration: Slaves connected to Target System Create or modify a configuration Offline (in the office) While slaves are connected to the local (engineering) system While slaves connected to the control (target) system Diagnosis EtherCAT network while control (target) system is in operation - integrated EtherCAT master stack in toolkit to scan the network and read the configuration - Remote configuration sends TCP/IP messages to target system (running Master stack) Remote Diagnosis: Slaves connected to Target System 3

Start Page

Configuration Mode Main View

Configuration Mode Groups with fixed offsets

Configuration Mode Slaves using MDP

Configuration Mode Master Sync Units Useful for grouping specific data Process Image: Variables are stored together within one memory block Error checking: Own datagram(s) allows individual WKC state check API ecatGetMasterSyncUnitInfo(), ecatGetMasterSyncUnitInfoNumOf()

Configuration Mode Master Sync Units and Multiple Tasks 9

Configuration Mode Update existing project with newly scanned slaves

Project templates After setting any EC-Engineer project as template, newly added or scanned slaves are copied from the template instead from ESI cache. Using a template with preconfigured slaves (PDO mapping, Names, Init Commands etc.) will save time and prevents mistakes.

Beckhoff EL6224 IO-Link terminal

Support for Beckhoff EL6731-0010 PROFIBUS slave terminal

Beckhoff EL6631-0010 PROFINET RT

Diagnosis Mode Slave state and file access functions

Diagnosis Mode View and force variables

Diagnosis Mode Access to CANOpen object dictionary

Diagnosis Mode Powerful “Line crossed” detection 18

Definition of Master Features (EMI file) EMI (EtherCAT Master Information) file to specify the master features Unit Name Possible cycle times, e. g., 250, 500, 1000, 2000 usec Maximum Slave Count Distributed Clocks supported: yes/no. Define DCM mode Hot Connect supported: yes/no OEM features …. Features are enabling/disabling dialogs, controls and settings EMI files (XML format) located in C:\Program Files (x86)\acontis_technologies\EC-Engineer\EMI

Multiple Language Support Unicode enabled: English, German, Japanese, Korean, …

Multiple Language Support Language files located in C:\Program Files (x86)\acontis_technologies\EC-Engineer\Languages

Key benefits Powerful online functions together with EC-Master Network scan local and remote, compare configured and found slaves (network mismatch view) Access to states, variables, object dictionary, ESC register, EEPROM, etc. Easy to use - modern design Build an configuration in less steps Only reasonable settings and options are visible Hide expert settings if not required Restriction to the essentials Options and dialogs can be restricted to those features which the control system supports, e. g. available cycle times, support of mailbox protocols, DC synchronization or Hot Connect. Predefined EMI (EtherCAT Master Information) files for Class A and Class B are included and will serve as templates to enhance or restrict the function according to the customer needs Fixed process data memory layout Define a group of slaves or a single slave with fixed offsets in the process image. The layout don’t change if new devices are added. CSV export for process data variable layout Adjustable/Extensible (Software Development Kit available) Adjust to customer needs or integrate into customer engineering environment 22

Software Development Kit (SDK) Software Development Kit to build your own EtherCAT Tool for configuration and diagnosis SDK Customize EC-Engineer Enhance EC-Engineer Simplify EC-Engineer Integrate EC-Engineer Source code available Based on latest Microsoft technology Microsoft .NET 4.0 (min. Windows XP SP2) Windows Presentation Foundation (WPF) Core Logic and ENI Engine also on Linux (with mono)

SDK: Create slave specific settings

SDK: Integration into engineering tool (I) On the bottom left: EtherCAT bus tree view

SDK: Integration into engineering tool (II) Separate dialog opens from within Multiprog to configure EtherCAT slaves

Software Architecture Overview

SDK: Architecture Five layers for integration Rebranding, theme, own slave plug-in Integration in existing engineering software by showing reduced information in a sub window Integration with a completely different graphical user interface (GUI) Integration without GUI, but the internal EC-Master functionality will be used Integration without GUI and EC-Master functionality. Library for creating ENI file based on ESI files and input list Layer 1 to 3: Only for Microsoft Windows Layer 4 to 5: Windows and Linux (with Mono)

Layer 5 – ENI Engine Logic

ENI Builder for Windows and Linux

Layer 4 – Core Business Logic

Brand Labeling Kit OEM edition together with the “Brand Labelling Kit” offers customers the possibility to create a customized version of the EC-Engineer without the need for any programming. The OEM edition only works with customer’s own master system and optionally can be shipped without dongle.

EC-Engineer OEM (1) Requirements: Today EC-Engineer is protected via a USB dongle Some customers, e. g. controller maker, have to provide the tool to their customers and therefore a USB dongle or any other software activation can´t be handled Goals: Provide an EC-Engineer which just can be used with a specific EC-Master controller This restriction should work in configuration and diagnosis mode

EC-Engineer OEM (2) Implementation Each customer will get an unique “OEM Customer Key” for his controller This key is used by EC-Engineer to create an encrypted ENI file This key has to provided to EC-Master ecatSetOemLicenseKey() EC-Master is able to decrypt the ENI file based on the key In diagnosis mode the EC-Engineer login procedure has to provide the matching key to EC-Master RAS-Server

Summary: Configuration Features (I) Scanning slave devices Slaves connected to the local (engineering) system Slaves connected to the control system Support of multiple, different Master Devices Master Device Settings Cycle Time, Verbosity Level Used network interface Activation of feature packs (e. g. cable redundancy) Plant Layout Adding, Removing and Moving of Slave Devices Update or synchronize an existing project with newly scanned slaves Slave Device Settings Display and edit EtherCAT address PDO Selection and configuration Display and edit start offset of slave inside process data image Display of slave variables Distributed Clocks (DC) parameters Configuration of slaves based on the Modular Device Profile (MDP)

Summary: Configuration Features (II) Display and edit CoE and SoE Startup Commands using offline object dictionary Distributed Clocks Parameters Display and edit Reference Clock Setup DC Master Synchronization mode Defining and editing of Hot Connect (HC) Groups Station Alias Address: Display and program Slave 2 Slave Copy Master Sync Units and Multiple Cyclic Tasks Advanced Settings Bus-Scan Parameters Timeouts for State Change FMMU Programing (LRD/LWR instead of LRW) Watchdog configuration (Sync Manager and PDI) Export ENI-File ETG.2100 Import ENI-File

Summary: Diagnosis Features Compare actually connected slaves with configured slaves Line Crossed Analyzer: Figure out swapped cables Display and modify master state and slave states Display process data (inputs and outputs) All Slave specific Display Master Object Dictionary Display Slave Object Dictionary Read and write CANOpen objects (SDO Up- and Download) Display Slave Error Register 0x300 ff. Display EtherCAT Slave Controller (ESC) Registers File up- and download via FoE Programming EEPROM based on ESI file content

EC-Engineer Plus Beckhoff PROFIBUS Master gateway EL6731

EC-Engineer Plus Beckhoff CANopen master gateway EL6751